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<div class="title">kmeans.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * Author : Christian Potthast</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * Email  : potthast@usc.edu</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_KMEANS_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_KMEANS_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;set&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/console/parse.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/console/print.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="comment">//template &lt;typename PointT&gt;</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="comment">//class Kmeans : public PCLBase&lt;PointT&gt;</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1_kmeans.html">   61</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_kmeans.html">Kmeans</a></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="comment">    typedef PCLBase&lt;PointT&gt; BasePCLBase;</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="comment">    public:</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;<span class="comment">      typedef pcl::PointCloud&lt;PointT&gt; PointCloud;</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;<span class="comment">      typedef typename PointCloud::Ptr PointCloudPtr;</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="comment">      typedef typename PointCloud::ConstPtr PointCloudConstPtr;</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;<span class="comment">      typedef PointIndices::Ptr PointIndicesPtr;</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="comment">      typedef PointIndices::ConstPtr PointIndicesConstPtr;</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> PointId;    <span class="comment">// the id of this point</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> ClusterId;  <span class="comment">// the id of this cluster</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="comment">//typedef std::vector&lt;Coord&gt; Point;    // a point (a centroid)</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">typedef</span> std::set&lt;PointId&gt; SetPoints; <span class="comment">// set of points</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keyword">typedef</span> std::vector&lt;float&gt; Point;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="comment">// ClusterId -&gt; (PointId, PointId, PointId, .... )</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">typedef</span> std::vector&lt;SetPoints&gt; ClustersToPoints;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="comment">// PointId -&gt; ClusterId</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">typedef</span> std::vector&lt;ClusterId&gt; PointsToClusters; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="comment">// coll of centroids</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">typedef</span> std::vector&lt;Point&gt; Centroids;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <a class="code" href="classpcl_1_1_kmeans.html">Kmeans</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> num_points, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> num_dimensions);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      ~<a class="code" href="classpcl_1_1_kmeans.html">Kmeans</a> ();</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_kmeans.html#a8823feefb720e8d9c70076cc8becdde0">  107</a></span>&#160;      <a class="code" href="classpcl_1_1_kmeans.html#a8823feefb720e8d9c70076cc8becdde0">setClusterSize</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k) {num_clusters_ = k;};</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="comment">      void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="comment">      setClusterField (std::string field_name) </span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;<span class="comment">      {</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;<span class="comment">        cluster_field_name_ = field_name;</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;<span class="comment">      };</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="comment">*/</span>    </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="comment">//void</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      <span class="comment">//getClusterCentroids (PointT &amp;out);</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="comment">//void</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="comment">//cluster (std::vector&lt;PointIndices&gt; &amp;clusters);</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      kMeans ();</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      setInputData (std::vector&lt;Point&gt; &amp;data)</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="keywordflow">if</span> (num_points_ != data.size ())</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;Data vector not the same&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        data_ = data;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      addDataPoint (Point &amp;data_point)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keywordflow">if</span> (num_dimensions_ != data_point.size ())</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;Dimensions not the same&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        data_.push_back (data_point);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="comment">// Initial partition points among available clusters</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordtype">void</span> initialClusterPoints();</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      computeCentroids();</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="comment">// distance between two points</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <span class="keywordtype">float</span> <a class="code" href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">distance</a>(<span class="keyword">const</span> Point&amp; x, <span class="keyword">const</span> Point&amp; y)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keywordtype">float</span> total = 0.0;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keywordtype">float</span> diff;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        Point::const_iterator cpx=x.begin(); </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        Point::const_iterator cpy=y.begin();</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        Point::const_iterator cpx_end=x.end();</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keywordflow">for</span>(;cpx!=cpx_end;++cpx,++cpy){</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;          diff = *cpx - *cpy;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          total += (diff * diff); </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keywordflow">return</span> total;  <span class="comment">// no need to take sqrt, which is monotonic</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      Centroids get_centroids (){<span class="keywordflow">return</span> centroids_;}</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="comment">// Members derived from the base class</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="comment">      using BasePCLBase::input_;</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="comment">      using BasePCLBase::indices_;</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="comment">      using BasePCLBase::initCompute;</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="comment">      using BasePCLBase::deinitCompute;</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> num_points_;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> num_dimensions_;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno"><a class="line" href="classpcl_1_1_kmeans.html#a119b4a7a1ee839797406471ebbaaf212">  185</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_kmeans.html#a119b4a7a1ee839797406471ebbaaf212">num_clusters_</a>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <span class="comment">//std::vector</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="comment">//std::string cluster_field_name_;</span></div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <span class="comment">// one data point</span></div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <span class="comment">// all data points</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classpcl_1_1_kmeans.html#ae34b2e388cea4dd1921fe111976e8123">  195</a></span>&#160;      std::vector&lt;Point&gt; <a class="code" href="classpcl_1_1_kmeans.html#ae34b2e388cea4dd1921fe111976e8123">data_</a>;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      ClustersToPoints clusters_to_points_;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      PointsToClusters points_to_clusters_;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      Centroids centroids_;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; };</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;}</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_kmeans_html"><div class="ttname"><a href="classpcl_1_1_kmeans.html">pcl::Kmeans</a></div><div class="ttdoc">K-means clustering.</div><div class="ttdef"><b>Definition:</b> kmeans.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1_kmeans_html_a119b4a7a1ee839797406471ebbaaf212"><div class="ttname"><a href="classpcl_1_1_kmeans.html#a119b4a7a1ee839797406471ebbaaf212">pcl::Kmeans::num_clusters_</a></div><div class="ttdeci">unsigned int num_clusters_</div><div class="ttdoc">The number of clusters.</div><div class="ttdef"><b>Definition:</b> kmeans.h:185</div></div>
<div class="ttc" id="aclasspcl_1_1_kmeans_html_a8823feefb720e8d9c70076cc8becdde0"><div class="ttname"><a href="classpcl_1_1_kmeans.html#a8823feefb720e8d9c70076cc8becdde0">pcl::Kmeans::setClusterSize</a></div><div class="ttdeci">void setClusterSize(unsigned int k)</div><div class="ttdoc">This method sets the k-means cluster size.</div><div class="ttdef"><b>Definition:</b> kmeans.h:107</div></div>
<div class="ttc" id="aclasspcl_1_1_kmeans_html_ae34b2e388cea4dd1921fe111976e8123"><div class="ttname"><a href="classpcl_1_1_kmeans.html#ae34b2e388cea4dd1921fe111976e8123">pcl::Kmeans::data_</a></div><div class="ttdeci">std::vector&lt; Point &gt; data_</div><div class="ttdoc">The cluster centroids.</div><div class="ttdef"><b>Definition:</b> kmeans.h:195</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2geometry_8h_html_a2fc89f0c26b7c7377fcd2851fa933b87"><div class="ttname"><a href="common_2include_2pcl_2common_2geometry_8h.html#a2fc89f0c26b7c7377fcd2851fa933b87">pcl::geometry::distance</a></div><div class="ttdeci">float distance(const PointT &amp;p1, const PointT &amp;p2)</div><div class="ttdef"><b>Definition:</b> geometry.h:60</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
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